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   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
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   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
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<a href="distance__map__planner_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef DMPLANNER_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define DMPLANNER_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;graph_search.h&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="map__util_8h.html">jps_collision/map_util.h</a>&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="data__type_8h.html">jps_basis/data_type.h</a>&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">class </span>GraphSearch;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classDMPlanner.html">   16</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> Dim&gt; <span class="keyword">class </span><a class="code" href="classDMPlanner.html">DMPlanner</a> {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="classDMPlanner.html#ad33e7686995b0205ea104d9b5910962b">DMPlanner</a>(<span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  std::vector&lt;bool&gt; <a class="code" href="classDMPlanner.html#afaeb5f88f845c3b3f915895d3bb9570e">setPath</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> &amp;path, <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; radius,</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                            <span class="keywordtype">bool</span> dense);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDMPlanner.html#a6d3b480cf42c3c6878a92b36ec0c53cd">setSearchRadius</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; r);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDMPlanner.html#a185cc248ad90126275293b68e766e4fe">setPotentialRadius</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; r);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDMPlanner.html#a91f87e62a8be32e7224a26fd504f95e6">setPotentialMapRange</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; r);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDMPlanner.html#aa3dba868a99981d6b6bccf54149de31b">setEps</a>(<span class="keywordtype">double</span> eps);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDMPlanner.html#a4adf903bf3ebbeb9604a10af01a6e2b5">setCweight</a>(<span class="keywordtype">double</span> c);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDMPlanner.html#a747da87b921d9d15cd80396d944d33cc">setPow</a>(<span class="keywordtype">int</span> pow);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDMPlanner.html#a2b80d2b48cc701f1ac7e48f48aa442d4">status</a>();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#aa995b247ebb1739588a091e1cfe4f5a0">getPath</a>();</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a61b975af2d46cd1ec7ca15d6325da321">getRawPath</a>();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a8b1842c47ea5a6fe60cf528678811687">getPriorPath</a>();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a82932210c58fcd19b8938278fa90e099">getOpenSet</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#ae724cf2f4853fdaeeb59c732e008bad8">getCloseSet</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a65d2f237835be0bbc4d9ca5e2a46d307">getAllSet</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="data__type_8h.html#a62c46ed3e3ab6773b30439f9be38290b">vec_Vec3f</a> <a class="code" href="classDMPlanner.html#af0c4c4e6eccc583c41b01ee361751ab9">getCloud</a>(<span class="keywordtype">double</span> h_max = 1);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#aec869c92d161c21972eded9d332e36cc">getSearchRegion</a>();</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  std::shared_ptr&lt;JPS::MapUtil&lt;Dim&gt;&gt; <a class="code" href="classDMPlanner.html#ace4a86e76f0b912c9b679708eef84123">getMapUtil</a>();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDMPlanner.html#aca946d73c16840a142b086b99810d52a">setMap</a>(<span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classJPS_1_1MapUtil.html">JPS::MapUtil&lt;Dim&gt;</a>&gt; &amp;map_util,</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;              <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; pos);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDMPlanner.html#ad544efbb36881600902ead65faaca709">computePath</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; start, <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; goal, <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a>&amp; path);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <a class="code" href="data__type_8h.html#a6b9210d48a0a541940af71827aad1b41">vec_E&lt;std::pair&lt;Veci&lt;Dim&gt;</a>, int8_t&gt;&gt; <a class="code" href="classDMPlanner.html#ad1d4dcf1ec57016cbb8cb5e62da07009">createMask</a>(<span class="keywordtype">int</span> pow);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDMPlanner.html#af0ea003b34a6703da7aaf992711f82a1">plan</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> &amp;start, <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> &amp;goal,</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            <a class="code" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> eps = 1, <a class="code" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> cweight = 0.1);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a22daa9893b8403a568a954777585fdd3">removeLinePts</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> &amp;path);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a2d40fbc86e538ad0f791a7af0f66730c">removeCornerPts</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> &amp;path);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDMPlanner.html#a4bdc47ed622fe6c1bfa963a44e8f8922">checkAvailability</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci&lt;Dim&gt;</a> &amp;pn);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classDMPlanner.html#ab95b8caf76e9461ac6141df028298cf4">  104</a></span>&#160;  std::shared_ptr&lt;JPS::MapUtil&lt;Dim&gt;&gt; <a class="code" href="classDMPlanner.html#ab95b8caf76e9461ac6141df028298cf4">map_util_</a>;</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a0e656e5f931bb363e8f0dc758d2bbe4a">  106</a></span>&#160;  std::shared_ptr&lt;DMP::GraphSearch&gt; <a class="code" href="classDMPlanner.html#a0e656e5f931bb363e8f0dc758d2bbe4a">graph_search_</a>;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a77dec8dd82a73ec02de24fd7353c7755">  108</a></span>&#160;  std::vector&lt;bool&gt; <a class="code" href="classDMPlanner.html#a77dec8dd82a73ec02de24fd7353c7755">search_region_</a>;</div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classDMPlanner.html#adfce5ec2b737c9cccefb601c65218bd8">  110</a></span>&#160;  std::vector&lt;int8_t&gt; <a class="code" href="classDMPlanner.html#adfce5ec2b737c9cccefb601c65218bd8">cmap_</a>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classDMPlanner.html#ab800e317ca1565c342158a7ef948bad2">  113</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDMPlanner.html#ab800e317ca1565c342158a7ef948bad2">planner_verbose_</a>;</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a395708ddac717812052140f289220c3c">  115</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDMPlanner.html#a395708ddac717812052140f289220c3c">path_cost_</a>;</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classDMPlanner.html#addfee57dcf8e41933204494bed21d017">  117</a></span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#addfee57dcf8e41933204494bed21d017">prior_path_</a>;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a4d70235f3a9cf834b9e963ec75ccc6c9">  119</a></span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a4d70235f3a9cf834b9e963ec75ccc6c9">raw_path_</a>;</div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a5c51e1e55178ec0ce7290ee45e834bfc">  121</a></span>&#160;  <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a5c51e1e55178ec0ce7290ee45e834bfc">path_</a>;</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classDMPlanner.html#aa261a20a072d03a4f5a34560b17c0bd7">  123</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDMPlanner.html#aa261a20a072d03a4f5a34560b17c0bd7">status_</a> = 0;</div><div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a375b9b7e025bb469c2f7b6bf75cefea1">  125</a></span>&#160;  int8_t <a class="code" href="classDMPlanner.html#a375b9b7e025bb469c2f7b6bf75cefea1">H_MAX</a>{100};</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a40d49ceeb7c7b13264b7c98f9a2f7629">  127</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDMPlanner.html#a40d49ceeb7c7b13264b7c98f9a2f7629">eps_</a>{0.0};</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a66156e9ccf992e700949ca1761b08f75">  129</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDMPlanner.html#a66156e9ccf992e700949ca1761b08f75">cweight_</a>{0.1};</div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a309b34673509cc8a11e5b5e650d1c107">  131</a></span>&#160;  <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a309b34673509cc8a11e5b5e650d1c107">potential_radius_</a>{<a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;::Zero</a>()};</div><div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classDMPlanner.html#ac36d9fd76ad1427fd88a31f9009635bc">  133</a></span>&#160;  <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#ac36d9fd76ad1427fd88a31f9009635bc">search_radius_</a>{<a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;::Zero</a>()};</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a50cadb8965084f7f13d39272a71b3b98">  135</a></span>&#160;  <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> <a class="code" href="classDMPlanner.html#a50cadb8965084f7f13d39272a71b3b98">potential_map_range_</a>{<a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;::Zero</a>()};</div><div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classDMPlanner.html#a740386adcd934aa9dbc613750a0fc0b3">  137</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDMPlanner.html#a740386adcd934aa9dbc613750a0fc0b3">pow_</a>{1};</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;};</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="distance__map__planner_8h.html#aed9045bb5a0e2788df41814916cffba7">  142</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classDMPlanner.html">DMPlanner&lt;2&gt;</a> <a class="code" href="distance__map__planner_8h.html#aed9045bb5a0e2788df41814916cffba7">DMPlanner2D</a>;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="distance__map__planner_8h.html#aff076e2c24e0195ad406c5b8e42070a0">  145</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classDMPlanner.html">DMPlanner&lt;3&gt;</a> <a class="code" href="distance__map__planner_8h.html#aff076e2c24e0195ad406c5b8e42070a0">DMPlanner3D</a>;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classIterativeDMPlanner.html">  148</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> Dim&gt; <span class="keyword">class </span><a class="code" href="classIterativeDMPlanner.html">IterativeDMPlanner</a> : <span class="keyword">public</span> <a class="code" href="classDMPlanner.html">DMPlanner</a>&lt;Dim&gt; {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <a class="code" href="classIterativeDMPlanner.html">IterativeDMPlanner</a>(<span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordtype">bool</span> iterativeComputePath(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> &amp;start, <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> &amp;goal,</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                            <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> &amp;path, <span class="keywordtype">int</span> max_iteration);</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;};</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="distance__map__planner_8h.html#ade07b4521799196e83b3bcc568aede4c">  158</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classIterativeDMPlanner.html">IterativeDMPlanner&lt;2&gt;</a> <a class="code" href="distance__map__planner_8h.html#ade07b4521799196e83b3bcc568aede4c">IterativeDMPlanner2D</a>;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="distance__map__planner_8h.html#a288e89b7dcb7d1d583d72a19e0d415aa">  161</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classIterativeDMPlanner.html">IterativeDMPlanner&lt;3&gt;</a> <a class="code" href="distance__map__planner_8h.html#a288e89b7dcb7d1d583d72a19e0d415aa">IterativeDMPlanner3D</a>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classDMPlanner_html_a2b80d2b48cc701f1ac7e48f48aa442d4"><div class="ttname"><a href="classDMPlanner.html#a2b80d2b48cc701f1ac7e48f48aa442d4">DMPlanner::status</a></div><div class="ttdeci">int status()</div><div class="ttdoc">Status of the planner. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:41</div></div>
<div class="ttc" id="classDMPlanner_html_afaeb5f88f845c3b3f915895d3bb9570e"><div class="ttname"><a href="classDMPlanner.html#afaeb5f88f845c3b3f915895d3bb9570e">DMPlanner::setPath</a></div><div class="ttdeci">std::vector&lt; bool &gt; setPath(const vec_Vecf&lt; Dim &gt; &amp;path, const Vecf&lt; Dim &gt; &amp;radius, bool dense)</div><div class="ttdoc">set a prior path and get region around it </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:171</div></div>
<div class="ttc" id="classDMPlanner_html_a4adf903bf3ebbeb9604a10af01a6e2b5"><div class="ttname"><a href="classDMPlanner.html#a4adf903bf3ebbeb9604a10af01a6e2b5">DMPlanner::setCweight</a></div><div class="ttdeci">void setCweight(double c)</div><div class="ttdoc">Set collision cost weight. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:31</div></div>
<div class="ttc" id="classDMPlanner_html_ad544efbb36881600902ead65faaca709"><div class="ttname"><a href="classDMPlanner.html#ad544efbb36881600902ead65faaca709">DMPlanner::computePath</a></div><div class="ttdeci">bool computePath(const Vecf&lt; Dim &gt; &amp;start, const Vecf&lt; Dim &gt; &amp;goal, const vec_Vecf&lt; Dim &gt; &amp;path)</div><div class="ttdoc">Compute the optimal path. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:555</div></div>
<div class="ttc" id="classDMPlanner_html_a50cadb8965084f7f13d39272a71b3b98"><div class="ttname"><a href="classDMPlanner.html#a50cadb8965084f7f13d39272a71b3b98">DMPlanner::potential_map_range_</a></div><div class="ttdeci">Vecf&lt; Dim &gt; potential_map_range_</div><div class="ttdoc">xy range of local distance map </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:135</div></div>
<div class="ttc" id="classDMPlanner_html_a309b34673509cc8a11e5b5e650d1c107"><div class="ttname"><a href="classDMPlanner.html#a309b34673509cc8a11e5b5e650d1c107">DMPlanner::potential_radius_</a></div><div class="ttdeci">Vecf&lt; Dim &gt; potential_radius_</div><div class="ttdoc">radius of distance field </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:131</div></div>
<div class="ttc" id="classDMPlanner_html_a40d49ceeb7c7b13264b7c98f9a2f7629"><div class="ttname"><a href="classDMPlanner.html#a40d49ceeb7c7b13264b7c98f9a2f7629">DMPlanner::eps_</a></div><div class="ttdeci">double eps_</div><div class="ttdoc">heuristic weight </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:127</div></div>
<div class="ttc" id="classDMPlanner_html_a4bdc47ed622fe6c1bfa963a44e8f8922"><div class="ttname"><a href="classDMPlanner.html#a4bdc47ed622fe6c1bfa963a44e8f8922">DMPlanner::checkAvailability</a></div><div class="ttdeci">bool checkAvailability(const Veci&lt; Dim &gt; &amp;pn)</div><div class="ttdoc">check availability </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:292</div></div>
<div class="ttc" id="classDMPlanner_html_a65d2f237835be0bbc4d9ca5e2a46d307"><div class="ttname"><a href="classDMPlanner.html#a65d2f237835be0bbc4d9ca5e2a46d307">DMPlanner::getAllSet</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getAllSet() const</div><div class="ttdoc">Get all the nodes. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:155</div></div>
<div class="ttc" id="classDMPlanner_html_a61b975af2d46cd1ec7ca15d6325da321"><div class="ttname"><a href="classDMPlanner.html#a61b975af2d46cd1ec7ca15d6325da321">DMPlanner::getRawPath</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getRawPath()</div><div class="ttdoc">Get the raw path. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:47</div></div>
<div class="ttc" id="classDMPlanner_html_addfee57dcf8e41933204494bed21d017"><div class="ttname"><a href="classDMPlanner.html#addfee57dcf8e41933204494bed21d017">DMPlanner::prior_path_</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; prior_path_</div><div class="ttdoc">Prior path from planner. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:117</div></div>
<div class="ttc" id="classDMPlanner_html_adfce5ec2b737c9cccefb601c65218bd8"><div class="ttname"><a href="classDMPlanner.html#adfce5ec2b737c9cccefb601c65218bd8">DMPlanner::cmap_</a></div><div class="ttdeci">std::vector&lt; int8_t &gt; cmap_</div><div class="ttdoc">1-D map array </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:110</div></div>
<div class="ttc" id="classDMPlanner_html_a8b1842c47ea5a6fe60cf528678811687"><div class="ttname"><a href="classDMPlanner.html#a8b1842c47ea5a6fe60cf528678811687">DMPlanner::getPriorPath</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getPriorPath()</div><div class="ttdoc">Get the prior path. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:50</div></div>
<div class="ttc" id="classJPS_1_1MapUtil_html"><div class="ttname"><a href="classJPS_1_1MapUtil.html">JPS::MapUtil</a></div><div class="ttdef"><b>Definition:</b> map_util.h:18</div></div>
<div class="ttc" id="classDMPlanner_html_a4d70235f3a9cf834b9e963ec75ccc6c9"><div class="ttname"><a href="classDMPlanner.html#a4d70235f3a9cf834b9e963ec75ccc6c9">DMPlanner::raw_path_</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; raw_path_</div><div class="ttdoc">Raw path from planner. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:119</div></div>
<div class="ttc" id="classDMPlanner_html_a22daa9893b8403a568a954777585fdd3"><div class="ttname"><a href="classDMPlanner.html#a22daa9893b8403a568a954777585fdd3">DMPlanner::removeLinePts</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; removeLinePts(const vec_Vecf&lt; Dim &gt; &amp;path)</div><div class="ttdoc">remove redundant points on the same line </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:100</div></div>
<div class="ttc" id="classIterativeDMPlanner_html"><div class="ttname"><a href="classIterativeDMPlanner.html">IterativeDMPlanner</a></div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:148</div></div>
<div class="ttc" id="classDMPlanner_html_a82932210c58fcd19b8938278fa90e099"><div class="ttname"><a href="classDMPlanner.html#a82932210c58fcd19b8938278fa90e099">DMPlanner::getOpenSet</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getOpenSet() const</div><div class="ttdoc">Get the nodes in open set. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:123</div></div>
<div class="ttc" id="distance__map__planner_8h_html_ade07b4521799196e83b3bcc568aede4c"><div class="ttname"><a href="distance__map__planner_8h.html#ade07b4521799196e83b3bcc568aede4c">IterativeDMPlanner2D</a></div><div class="ttdeci">IterativeDMPlanner&lt; 2 &gt; IterativeDMPlanner2D</div><div class="ttdoc">Iterative Planner for 2D OccMap. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:158</div></div>
<div class="ttc" id="classDMPlanner_html_a6d3b480cf42c3c6878a92b36ec0c53cd"><div class="ttname"><a href="classDMPlanner.html#a6d3b480cf42c3c6878a92b36ec0c53cd">DMPlanner::setSearchRadius</a></div><div class="ttdeci">void setSearchRadius(const Vecf&lt; Dim &gt; &amp;r)</div><div class="ttdoc">Set search radius around a prior path. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:11</div></div>
<div class="ttc" id="distance__map__planner_8h_html_a288e89b7dcb7d1d583d72a19e0d415aa"><div class="ttname"><a href="distance__map__planner_8h.html#a288e89b7dcb7d1d583d72a19e0d415aa">IterativeDMPlanner3D</a></div><div class="ttdeci">IterativeDMPlanner&lt; 3 &gt; IterativeDMPlanner3D</div><div class="ttdoc">Iterative Planner for 3D VoxelMap. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:161</div></div>
<div class="ttc" id="distance__map__planner_8h_html_aed9045bb5a0e2788df41814916cffba7"><div class="ttname"><a href="distance__map__planner_8h.html#aed9045bb5a0e2788df41814916cffba7">DMPlanner2D</a></div><div class="ttdeci">DMPlanner&lt; 2 &gt; DMPlanner2D</div><div class="ttdoc">Planner for 2D OccMap. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:142</div></div>
<div class="ttc" id="distance__map__planner_8h_html_aff076e2c24e0195ad406c5b8e42070a0"><div class="ttname"><a href="distance__map__planner_8h.html#aff076e2c24e0195ad406c5b8e42070a0">DMPlanner3D</a></div><div class="ttdeci">DMPlanner&lt; 3 &gt; DMPlanner3D</div><div class="ttdoc">Planner for 3D VoxelMap. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:145</div></div>
<div class="ttc" id="classDMPlanner_html_af0c4c4e6eccc583c41b01ee361751ab9"><div class="ttname"><a href="classDMPlanner.html#af0c4c4e6eccc583c41b01ee361751ab9">DMPlanner::getCloud</a></div><div class="ttdeci">vec_Vec3f getCloud(double h_max=1)</div><div class="ttdoc">Get the potential cloud. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:316</div></div>
<div class="ttc" id="map__util_8h_html"><div class="ttname"><a href="map__util_8h.html">map_util.h</a></div><div class="ttdoc">MapUtil classes. </div></div>
<div class="ttc" id="classDMPlanner_html_a747da87b921d9d15cd80396d944d33cc"><div class="ttname"><a href="classDMPlanner.html#a747da87b921d9d15cd80396d944d33cc">DMPlanner::setPow</a></div><div class="ttdeci">void setPow(int pow)</div><div class="ttdoc">Set the power of potential function . </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:36</div></div>
<div class="ttc" id="classDMPlanner_html_a185cc248ad90126275293b68e766e4fe"><div class="ttname"><a href="classDMPlanner.html#a185cc248ad90126275293b68e766e4fe">DMPlanner::setPotentialRadius</a></div><div class="ttdeci">void setPotentialRadius(const Vecf&lt; Dim &gt; &amp;r)</div><div class="ttdoc">Set potential radius. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:16</div></div>
<div class="ttc" id="classDMPlanner_html_a740386adcd934aa9dbc613750a0fc0b3"><div class="ttname"><a href="classDMPlanner.html#a740386adcd934aa9dbc613750a0fc0b3">DMPlanner::pow_</a></div><div class="ttdeci">int pow_</div><div class="ttdoc">power index for creating mask </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:137</div></div>
<div class="ttc" id="data__type_8h_html_a6b9210d48a0a541940af71827aad1b41"><div class="ttname"><a href="data__type_8h.html#a6b9210d48a0a541940af71827aad1b41">vec_E</a></div><div class="ttdeci">std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt; &gt; vec_E</div><div class="ttdoc">Pre-allocated std::vector for Eigen using vec_E. </div><div class="ttdef"><b>Definition:</b> data_type.h:52</div></div>
<div class="ttc" id="classDMPlanner_html_aa261a20a072d03a4f5a34560b17c0bd7"><div class="ttname"><a href="classDMPlanner.html#aa261a20a072d03a4f5a34560b17c0bd7">DMPlanner::status_</a></div><div class="ttdeci">int status_</div><div class="ttdoc">Flag indicating the success of planning. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:123</div></div>
<div class="ttc" id="classDMPlanner_html_ac36d9fd76ad1427fd88a31f9009635bc"><div class="ttname"><a href="classDMPlanner.html#ac36d9fd76ad1427fd88a31f9009635bc">DMPlanner::search_radius_</a></div><div class="ttdeci">Vecf&lt; Dim &gt; search_radius_</div><div class="ttdoc">radius of searching tunnel </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:133</div></div>
<div class="ttc" id="data__type_8h_html_a0a3b37beb40c06edc02cb4b7339f2b96"><div class="ttname"><a href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a></div><div class="ttdeci">vec_E&lt; Vecf&lt; N &gt; &gt; vec_Vecf</div><div class="ttdoc">Vector of Eigen 1D float vector. </div><div class="ttdef"><b>Definition:</b> data_type.h:69</div></div>
<div class="ttc" id="classDMPlanner_html_ad1d4dcf1ec57016cbb8cb5e62da07009"><div class="ttname"><a href="classDMPlanner.html#ad1d4dcf1ec57016cbb8cb5e62da07009">DMPlanner::createMask</a></div><div class="ttdeci">vec_E&lt; std::pair&lt; Veci&lt; Dim &gt;, int8_t &gt; &gt; createMask(int pow)</div><div class="ttdoc">Create the mask for potential distance field. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:355</div></div>
<div class="ttc" id="classDMPlanner_html_a395708ddac717812052140f289220c3c"><div class="ttname"><a href="classDMPlanner.html#a395708ddac717812052140f289220c3c">DMPlanner::path_cost_</a></div><div class="ttdeci">double path_cost_</div><div class="ttdoc">Path cost (raw) </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:115</div></div>
<div class="ttc" id="classDMPlanner_html_aca946d73c16840a142b086b99810d52a"><div class="ttname"><a href="classDMPlanner.html#aca946d73c16840a142b086b99810d52a">DMPlanner::setMap</a></div><div class="ttdeci">void setMap(const std::shared_ptr&lt; JPS::MapUtil&lt; Dim &gt;&gt; &amp;map_util, const Vecf&lt; Dim &gt; &amp;pos)</div><div class="ttdoc">Generate distance map. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:395</div></div>
<div class="ttc" id="data__type_8h_html_ac208833a6aa7ec29f39eb5ae142aaede"><div class="ttname"><a href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a></div><div class="ttdeci">Eigen::Matrix&lt; int, N, 1 &gt; Veci</div><div class="ttdoc">Eigen 1D int vector of size N. </div><div class="ttdef"><b>Definition:</b> data_type.h:58</div></div>
<div class="ttc" id="classDMPlanner_html"><div class="ttname"><a href="classDMPlanner.html">DMPlanner</a></div><div class="ttdoc">Abstract base for planning. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:16</div></div>
<div class="ttc" id="classDMPlanner_html_a66156e9ccf992e700949ca1761b08f75"><div class="ttname"><a href="classDMPlanner.html#a66156e9ccf992e700949ca1761b08f75">DMPlanner::cweight_</a></div><div class="ttdeci">double cweight_</div><div class="ttdoc">potential weight </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:129</div></div>
<div class="ttc" id="data__type_8h_html_a7c99d9360fc6cac2762b786e2fb52266"><div class="ttname"><a href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a></div><div class="ttdeci">double decimal_t</div><div class="ttdoc">Rename the float type used in lib. </div><div class="ttdef"><b>Definition:</b> data_type.h:48</div></div>
<div class="ttc" id="classDMPlanner_html_af0ea003b34a6703da7aaf992711f82a1"><div class="ttname"><a href="classDMPlanner.html#af0ea003b34a6703da7aaf992711f82a1">DMPlanner::plan</a></div><div class="ttdeci">bool plan(const Vecf&lt; Dim &gt; &amp;start, const Vecf&lt; Dim &gt; &amp;goal, decimal_t eps=1, decimal_t cweight=0.1)</div><div class="ttdoc">Need to be specified in Child class, main planning function. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:467</div></div>
<div class="ttc" id="classDMPlanner_html_a0e656e5f931bb363e8f0dc758d2bbe4a"><div class="ttname"><a href="classDMPlanner.html#a0e656e5f931bb363e8f0dc758d2bbe4a">DMPlanner::graph_search_</a></div><div class="ttdeci">std::shared_ptr&lt; DMP::GraphSearch &gt; graph_search_</div><div class="ttdoc">The planner back-end. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:106</div></div>
<div class="ttc" id="classDMPlanner_html_a91f87e62a8be32e7224a26fd504f95e6"><div class="ttname"><a href="classDMPlanner.html#a91f87e62a8be32e7224a26fd504f95e6">DMPlanner::setPotentialMapRange</a></div><div class="ttdeci">void setPotentialMapRange(const Vecf&lt; Dim &gt; &amp;r)</div><div class="ttdoc">Set the range of potential map, 0 means the whole map. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:21</div></div>
<div class="ttc" id="classDMPlanner_html_a5c51e1e55178ec0ce7290ee45e834bfc"><div class="ttname"><a href="classDMPlanner.html#a5c51e1e55178ec0ce7290ee45e834bfc">DMPlanner::path_</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; path_</div><div class="ttdoc">Modified path for future usage. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:121</div></div>
<div class="ttc" id="classDMPlanner_html_a375b9b7e025bb469c2f7b6bf75cefea1"><div class="ttname"><a href="classDMPlanner.html#a375b9b7e025bb469c2f7b6bf75cefea1">DMPlanner::H_MAX</a></div><div class="ttdeci">int8_t H_MAX</div><div class="ttdoc">max potential value </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:125</div></div>
<div class="ttc" id="data__type_8h_html"><div class="ttname"><a href="data__type_8h.html">data_type.h</a></div><div class="ttdoc">Defines all data types used in this lib. </div></div>
<div class="ttc" id="classDMPlanner_html_a2d40fbc86e538ad0f791a7af0f66730c"><div class="ttname"><a href="classDMPlanner.html#a2d40fbc86e538ad0f791a7af0f66730c">DMPlanner::removeCornerPts</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; removeCornerPts(const vec_Vecf&lt; Dim &gt; &amp;path)</div><div class="ttdoc">Remove some corner waypoints. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:53</div></div>
<div class="ttc" id="classDMPlanner_html_aa995b247ebb1739588a091e1cfe4f5a0"><div class="ttname"><a href="classDMPlanner.html#aa995b247ebb1739588a091e1cfe4f5a0">DMPlanner::getPath</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getPath()</div><div class="ttdoc">Get the modified path. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:44</div></div>
<div class="ttc" id="data__type_8h_html_a3a0c45655a5e009e56634ccde0c5c575"><div class="ttname"><a href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a></div><div class="ttdeci">Eigen::Matrix&lt; decimal_t, N, 1 &gt; Vecf</div><div class="ttdoc">Eigen 1D float vector of size N. </div><div class="ttdef"><b>Definition:</b> data_type.h:55</div></div>
<div class="ttc" id="classDMPlanner_html_ab800e317ca1565c342158a7ef948bad2"><div class="ttname"><a href="classDMPlanner.html#ab800e317ca1565c342158a7ef948bad2">DMPlanner::planner_verbose_</a></div><div class="ttdeci">bool planner_verbose_</div><div class="ttdoc">Enabled for printing info. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:113</div></div>
<div class="ttc" id="classDMPlanner_html_ae724cf2f4853fdaeeb59c732e008bad8"><div class="ttname"><a href="classDMPlanner.html#ae724cf2f4853fdaeeb59c732e008bad8">DMPlanner::getCloseSet</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getCloseSet() const</div><div class="ttdoc">Get the nodes in close set. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:139</div></div>
<div class="ttc" id="classDMPlanner_html_aec869c92d161c21972eded9d332e36cc"><div class="ttname"><a href="classDMPlanner.html#aec869c92d161c21972eded9d332e36cc">DMPlanner::getSearchRegion</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getSearchRegion()</div><div class="ttdoc">Get the searching region. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:254</div></div>
<div class="ttc" id="data__type_8h_html_a62c46ed3e3ab6773b30439f9be38290b"><div class="ttname"><a href="data__type_8h.html#a62c46ed3e3ab6773b30439f9be38290b">vec_Vec3f</a></div><div class="ttdeci">vec_E&lt; Vec3f &gt; vec_Vec3f</div><div class="ttdoc">Vector of type Vec3f. </div><div class="ttdef"><b>Definition:</b> data_type.h:92</div></div>
<div class="ttc" id="classDMPlanner_html_ad33e7686995b0205ea104d9b5910962b"><div class="ttname"><a href="classDMPlanner.html#ad33e7686995b0205ea104d9b5910962b">DMPlanner::DMPlanner</a></div><div class="ttdeci">DMPlanner(bool verbose=false)</div><div class="ttdoc">Simple constructor. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:4</div></div>
<div class="ttc" id="classDMPlanner_html_ab95b8caf76e9461ac6141df028298cf4"><div class="ttname"><a href="classDMPlanner.html#ab95b8caf76e9461ac6141df028298cf4">DMPlanner::map_util_</a></div><div class="ttdeci">std::shared_ptr&lt; JPS::MapUtil&lt; Dim &gt; &gt; map_util_</div><div class="ttdoc">Assume using 3D voxel map for all 2d and 3d planning. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:104</div></div>
<div class="ttc" id="classDMPlanner_html_ace4a86e76f0b912c9b679708eef84123"><div class="ttname"><a href="classDMPlanner.html#ace4a86e76f0b912c9b679708eef84123">DMPlanner::getMapUtil</a></div><div class="ttdeci">std::shared_ptr&lt; JPS::MapUtil&lt; Dim &gt; &gt; getMapUtil()</div><div class="ttdoc">Get the internal map util. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:287</div></div>
<div class="ttc" id="classDMPlanner_html_aa3dba868a99981d6b6bccf54149de31b"><div class="ttname"><a href="classDMPlanner.html#aa3dba868a99981d6b6bccf54149de31b">DMPlanner::setEps</a></div><div class="ttdeci">void setEps(double eps)</div><div class="ttdoc">Set heuristic weight. </div><div class="ttdef"><b>Definition:</b> distance_map_planner.cpp:26</div></div>
<div class="ttc" id="classDMPlanner_html_a77dec8dd82a73ec02de24fd7353c7755"><div class="ttname"><a href="classDMPlanner.html#a77dec8dd82a73ec02de24fd7353c7755">DMPlanner::search_region_</a></div><div class="ttdeci">std::vector&lt; bool &gt; search_region_</div><div class="ttdoc">tunnel for visualization </div><div class="ttdef"><b>Definition:</b> distance_map_planner.h:108</div></div>
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